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Harmony QSpin - PMSM FOC</a></div></div></li><li><div class="topicref" data-id="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF"><div class="title"><a href="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF.html"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2</ph>
Harmony QSpin: PMSM FOC Modules</a></div></div></li><li><div class="topicref" data-id="GUID-E5EED18A-CF3E-4DA4-B210-950FDB8FA076"><div class="title"><a href="GUID-E5EED18A-CF3E-4DA4-B210-950FDB8FA076.html"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1</ph>
Software Modules</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li><li class="active"><div class="topicref" data-id="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B"><div class="title"><a href="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B.html"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.3</ph>
Output Stage</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li></ol></div>
                    
                    
                    
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Introduction</a></div></div></li><li role="treeitem" aria-expanded="true"><div data-tocid="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52" class="topicref" data-id="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35" data-state="expanded"><span role="button" tabindex="0" aria-labelledby="button-collapse-action GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35.html" id="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2</ph>
Harmony QSpin - PMSM FOC</a></div></div><ul role="group" class="navbar-nav nav-list"><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-0E28D069-94DC-4B85-967B-CBF9A45BE525-d1956e60" class="topicref" data-id="GUID-0E28D069-94DC-4B85-967B-CBF9A45BE525" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-0E28D069-94DC-4B85-967B-CBF9A45BE525-d1956e60-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-0E28D069-94DC-4B85-967B-CBF9A45BE525.html" id="GUID-0E28D069-94DC-4B85-967B-CBF9A45BE525-d1956e60-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.1</ph>
Getting Started</a></div></div></li><li role="treeitem" aria-expanded="true"><div data-tocid="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF-d1956e98" class="topicref" data-id="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF" data-state="expanded"><span role="button" tabindex="0" aria-labelledby="button-collapse-action GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF-d1956e98-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF.html" id="GUID-35451F85-BBB3-4DF6-B3AC-00FB57657EFF-d1956e98-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2</ph>
Harmony QSpin: PMSM FOC Modules</a></div></div><ul role="group" class="navbar-nav nav-list"><li role="treeitem" aria-expanded="true"><div data-tocid="GUID-E5EED18A-CF3E-4DA4-B210-950FDB8FA076-d1956e106" class="topicref" data-id="GUID-E5EED18A-CF3E-4DA4-B210-950FDB8FA076" data-state="expanded"><span role="button" tabindex="0" aria-labelledby="button-collapse-action GUID-E5EED18A-CF3E-4DA4-B210-950FDB8FA076-d1956e106-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-E5EED18A-CF3E-4DA4-B210-950FDB8FA076.html" id="GUID-E5EED18A-CF3E-4DA4-B210-950FDB8FA076-d1956e106-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1</ph>
Software Modules</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div><ul role="group" class="navbar-nav nav-list"><li role="treeitem"><div data-tocid="GUID-2E524004-ED37-4174-9ECC-3075003F70A7-d1956e116" class="topicref" data-id="GUID-2E524004-ED37-4174-9ECC-3075003F70A7" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-2E524004-ED37-4174-9ECC-3075003F70A7.html" id="GUID-2E524004-ED37-4174-9ECC-3075003F70A7-d1956e116-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.1</ph>
Start-up Configurator</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-1247DA32-16EE-410F-8821-9996138029EC-d1956e126" class="topicref" data-id="GUID-1247DA32-16EE-410F-8821-9996138029EC" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-1247DA32-16EE-410F-8821-9996138029EC-d1956e126-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-1247DA32-16EE-410F-8821-9996138029EC.html" id="GUID-1247DA32-16EE-410F-8821-9996138029EC-d1956e126-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.2</ph>
Motor Control and Diagnosis</a></div></div></li><li role="treeitem" class="active"><div data-tocid="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B-d1956e154" class="topicref" data-id="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B.html" id="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B-d1956e154-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.3</ph>
Output Stage</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li><li role="treeitem"><div data-tocid="GUID-D30380EE-7150-40F0-8CD4-972379CEF307-d1956e164" class="topicref" data-id="GUID-D30380EE-7150-40F0-8CD4-972379CEF307" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-D30380EE-7150-40F0-8CD4-972379CEF307.html" id="GUID-D30380EE-7150-40F0-8CD4-972379CEF307-d1956e164-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.4</ph>
Current Measurement and Diagnosis</a></div></div></li><li role="treeitem"><div data-tocid="GUID-01B46490-213A-4272-8195-738256105928-d1956e172" class="topicref" data-id="GUID-01B46490-213A-4272-8195-738256105928" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-01B46490-213A-4272-8195-738256105928.html" id="GUID-01B46490-213A-4272-8195-738256105928-d1956e172-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.5</ph>
Voltage Measurement and Diagnosis</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li><li role="treeitem"><div data-tocid="GUID-3FC371D1-5F20-4FD5-BE9C-5E735208822F-d1956e182" class="topicref" data-id="GUID-3FC371D1-5F20-4FD5-BE9C-5E735208822F" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-3FC371D1-5F20-4FD5-BE9C-5E735208822F.html" id="GUID-3FC371D1-5F20-4FD5-BE9C-5E735208822F-d1956e182-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.6</ph>
Position Measurement and Diagnosis</a></div></div></li><li role="treeitem"><div data-tocid="GUID-04C38070-686B-47B2-92B4-277FB5A980FC-d1956e190" class="topicref" data-id="GUID-04C38070-686B-47B2-92B4-277FB5A980FC" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-04C38070-686B-47B2-92B4-277FB5A980FC.html" id="GUID-04C38070-686B-47B2-92B4-277FB5A980FC-d1956e190-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.1.7</ph>
Data Monitoring</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li></ul></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-ECF85ABD-803D-4969-8737-C0CA3DBC62EA-d1956e200" class="topicref" data-id="GUID-ECF85ABD-803D-4969-8737-C0CA3DBC62EA" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-ECF85ABD-803D-4969-8737-C0CA3DBC62EA-d1956e200-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-ECF85ABD-803D-4969-8737-C0CA3DBC62EA.html" id="GUID-ECF85ABD-803D-4969-8737-C0CA3DBC62EA-d1956e200-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.2</ph>
Hardware Modules</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-5CB16768-D98D-45EA-805F-343C7E896621-d1956e238" class="topicref" data-id="GUID-5CB16768-D98D-45EA-805F-343C7E896621" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-5CB16768-D98D-45EA-805F-343C7E896621-d1956e238-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-5CB16768-D98D-45EA-805F-343C7E896621.html" id="GUID-5CB16768-D98D-45EA-805F-343C7E896621-d1956e238-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.2.3</ph>
Peripheral Modules</a></div></div></li></ul></li><li role="treeitem"><div data-tocid="GUID-F8D4D059-6217-4066-BD8B-60DD5B0B9DF3-d1956e270" class="topicref" data-id="GUID-F8D4D059-6217-4066-BD8B-60DD5B0B9DF3" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-F8D4D059-6217-4066-BD8B-60DD5B0B9DF3.html" id="GUID-F8D4D059-6217-4066-BD8B-60DD5B0B9DF3-d1956e270-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2.3</ph>
Firmware Architecture</a></div></div></li></ul></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279" class="topicref" data-id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8.html" id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3</ph>
Harmony QSpin API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164" class="topicref" data-id="GUID-42876005-92C2-4CC0-81FC-71368462D294" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-42876005-92C2-4CC0-81FC-71368462D294.html" id="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">4</ph>
Motor Control Development Kits and Boards</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180" class="topicref" data-id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62.html" id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">5</ph>
Motor Control Example Projects</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li><li role="treeitem"><div data-tocid="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508-d1956e2241" class="topicref" data-id="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508.html" id="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508-d1956e2241-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">6</ph>
Microchip MPLAB® Harmony 3 Release Notes</a></div></div></li><li role="treeitem"><div data-tocid="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183-d1956e2250" class="topicref" data-id="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183.html" id="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183-d1956e2250-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">7</ph>
License</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259" class="topicref backmatter backmatter_parent" data-id="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B.html" id="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-link">Microchip Information</a></div></div></li></ul></div>
		                        
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                        <div class=" wh_topic_content body "><main role="main"><article role="article" aria-labelledby="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-17DE7CFD-38D3-4C6B-8BED-E3C58472FA86">
<h1 class="- topic/title title topictitle1" id="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-17DE7CFD-38D3-4C6B-8BED-E3C58472FA86" style="">2.2.1.3 Output Stage</h1>

    <div class="- topic/body body"><p class="- topic/shortdesc shortdesc"></p>
        <p class="- topic/p p">The Output Stage module controls the relationship between the PI controller control signals and the generated PWM.</p>
        
        <section class="- topic/section section" id="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-44FDBB64-C2C5-4D3E-956B-D6B93B7F28AC" data-ofbid="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-44FDBB64-C2C5-4D3E-956B-D6B93B7F28AC"><h2 class="- topic/title title sectiontitle">Graphical User Interface</h2>
            
            <div class=""><img class="- topic/image image" src="GUID-41E39EAB-9BBE-4850-8984-4DE97B0015C2-high.jpg" alt="Output Stage GUI"/></div>
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        <section class="- topic/section section" id="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-D94750A3-421A-4CBB-914F-2317F6ABD357" data-ofbid="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-D94750A3-421A-4CBB-914F-2317F6ABD357"><h2 class="- topic/title title sectiontitle">Setting-up PWM to Control Ratio</h2>
            
            <p class="- topic/p p">The FOC control to PWM ratio refers to the relationship between the control signals generated by the FOC algorithm and the PWM signals that are used to drive the motor. In FOC, the control algorithm calculates the required voltage vectors to achieve the desired motor torque and speed. These voltage vectors are then converted into PWM signals, which modulate the power supplied to the motor windings.</p>
            <p class="- topic/p p">Ideally, a 1:1 ratio between the FOC control frequency and the PWM frequency is desirable. However, due to CPU bandwidth constraints, you may need to run the control algorithm at a lower frequency.</p>
            <div class="- topic/note note notype note_notype" id="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-2C3BECE5-D908-4CD3-9992-15F5A3E2A51E" data-ofbid="GUID-52CA4CA5-55BC-423F-B79E-B814E889984B__GUID-2C3BECE5-D908-4CD3-9992-15F5A3E2A51E"><span class="note__title">Note:</span> 
                <p class="- topic/p p">Only 1:1 ratio is supported</p>
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